71 lines
1.8 KiB
Arduino
71 lines
1.8 KiB
Arduino
|
/*
|
||
|
|
|
||
|
|
MinIMU-9-Arduino-AHRS
|
||
|
|
Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
|
||
|
|
|
||
|
|
Copyright (c) 2011 Pololu Corporation.
|
||
|
|
http://www.pololu.com/
|
||
|
|
|
||
|
|
MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
|
||
|
|
http://code.google.com/p/sf9domahrs/
|
||
|
|
|
||
|
|
sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
|
||
|
|
Julio and Doug Weibel:
|
||
|
|
http://code.google.com/p/ardu-imu/
|
||
|
|
|
||
|
|
MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
|
||
|
|
under the terms of the GNU Lesser General Public License as published by the
|
||
|
|
Free Software Foundation, either version 3 of the License, or (at your option)
|
||
|
|
any later version.
|
||
|
|
|
||
|
|
MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
|
||
|
|
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
||
|
|
FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
|
||
|
|
more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU Lesser General Public License along
|
||
|
|
with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
|
||
|
|
*/
|
||
|
|
|
||
|
|
//Computes the dot product of two vectors
|
||
|
|
float Vector_Dot_Product(float vector1[3],float vector2[3])
|
||
|
|
{
|
||
|
|
float op=0;
|
||
|
|
|
||
|
|
for(int c=0; c<3; c++)
|
||
|
|
{
|
||
|
|
op+=vector1[c]*vector2[c];
|
||
|
|
}
|
||
|
|
|
||
|
|
return op;
|
||
|
|
}
|
||
|
|
|
||
|
|
//Computes the cross product of two vectors
|
||
|
|
void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
|
||
|
|
{
|
||
|
|
vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
|
||
|
|
vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
|
||
|
|
vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
|
||
|
|
}
|
||
|
|
|
||
|
|
//Multiply the vector by a scalar.
|
||
|
|
void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
|
||
|
|
{
|
||
|
|
for(int c=0; c<3; c++)
|
||
|
|
{
|
||
|
|
vectorOut[c]=vectorIn[c]*scale2;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
|
||
|
|
{
|
||
|
|
for(int c=0; c<3; c++)
|
||
|
|
{
|
||
|
|
vectorOut[c]=vectorIn1[c]+vectorIn2[c];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|